WO2009037164A1 - Établissement de paramètres de qualité d'une carte numérique - Google Patents

Établissement de paramètres de qualité d'une carte numérique Download PDF

Info

Publication number
WO2009037164A1
WO2009037164A1 PCT/EP2008/062004 EP2008062004W WO2009037164A1 WO 2009037164 A1 WO2009037164 A1 WO 2009037164A1 EP 2008062004 W EP2008062004 W EP 2008062004W WO 2009037164 A1 WO2009037164 A1 WO 2009037164A1
Authority
WO
WIPO (PCT)
Prior art keywords
vehicle
digital map
value
unit
quality parameter
Prior art date
Application number
PCT/EP2008/062004
Other languages
German (de)
English (en)
Inventor
Ulrich STÄHLIN
Andreas Kircher
Thomas Raste
Original Assignee
Continental Teves Ag & Co. Ohg
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Continental Teves Ag & Co. Ohg filed Critical Continental Teves Ag & Co. Ohg
Priority to US12/677,590 priority Critical patent/US8577596B2/en
Priority to EP08803971A priority patent/EP2193337A1/fr
Publication of WO2009037164A1 publication Critical patent/WO2009037164A1/fr

Links

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/38—Electronic maps specially adapted for navigation; Updating thereof
    • G01C21/3804—Creation or updating of map data
    • G01C21/3833—Creation or updating of map data characterised by the source of data
    • G01C21/3844—Data obtained from position sensors only, e.g. from inertial navigation
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/38—Electronic maps specially adapted for navigation; Updating thereof
    • G01C21/3804—Creation or updating of map data
    • G01C21/3833—Creation or updating of map data characterised by the source of data
    • G01C21/3841—Data obtained from two or more sources, e.g. probe vehicles
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/09—Arrangements for giving variable traffic instructions
    • G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
    • G08G1/0968—Systems involving transmission of navigation instructions to the vehicle
    • G08G1/0969—Systems involving transmission of navigation instructions to the vehicle having a display in the form of a map

Definitions

  • the invention relates to the navigation and assistance technology for vehicles.
  • the invention relates to a method for creating quality parameters for a digital map, a driver assistance system for a vehicle, a vehicle with a driver assistance system, a device for creating quality parameters, a program element and a computer-readable medium.
  • Driver assistance systems are electronic auxiliary devices in motor vehicles to assist the driver in certain driving situations. Here are often safety aspects, but also the increase in ride comfort in the foreground. These systems partially autonomously or autonomously engage in propulsion, control (e.g., throttle, brake), steering or signaling devices of the vehicle, or alert the driver of the driver just before or during critical situations through appropriate man-machine interfaces.
  • propulsion e.g., throttle, brake
  • steering or signaling devices of the vehicle e.g., a steering or signaling devices of the vehicle.
  • alert the driver of the driver just before or during critical situations through appropriate man-machine interfaces.
  • driver assistance systems are designed so that the responsibility remains with the driver, and this is ultimately not incapacitated. In some cases, digital maps are made available to the driver assistance systems.
  • the accuracy of using digital maps in driver assistance systems depends largely on the accuracy and reliability of the underlying map material.
  • the highest possible accuracy and reliability is usually attempted to achieve that as often as possible, a re-mapping by the card manufacturer.
  • a method for creating quality parameters for a digital map, a driver assistance system for a vehicle, a vehicle with a driver assistance system, a device for producing quality parameters, a program element and a computer-readable medium are specified according to the features of the independent claims. Further developments of the invention will become apparent from the dependent claims.
  • the described embodiments equally relate to the method, the driver assistance system, the vehicle, the device, the program element and the computer-readable medium.
  • any communication within the vehicle can be both wirelessly and wired.
  • a method for creating quality parameters for a digital map comprises the following steps: detecting a position of a vehicle, detecting a current measured value of an attribute of the position, extracting a stored value of the attribute of the position of the vehicle from the digital map. Furthermore, the method comprises the steps of transmitting the measured value and the extracted value as a value pair to a valuation unit and generating a quality parameter of the attribute of the item based on the value pair by the evaluation unit.
  • an evaluation of the correctness of the map material of the digital map can be made possible.
  • this method it becomes possible to generate quality parameters that are independent of the original acquisition of the data of the digital map.
  • This can provide redundancy in a driver assistance system since the driver assistance system not only provides the digital map data used in its operation, but also the quality parameters produced. It is of course possible and desirable for a variety of quality parameters to be used for many different attributes of many different positions of the card. This increases the accuracy and correctness of the driver assistance system.
  • the quality parameter provides feedback for the digital map. This redundancy in the system may be necessary for certain security applications.
  • the position of the vehicle for example, by a
  • Positioning unit to be detected as a GPS device any other technology for position determination can be used.
  • the detection of a current measured value of an attribute can take place via a measuring unit such as a camera, a radar, a motion sensor or any other sensor of the vehicle.
  • the term attribute is to be understood as a measured variable, such as the speed limit, which must be observed at this position.
  • lane information such as lane number, one-way information, direction information, right-of-way information, or turn-off permissions are exemplary attributes of a position.
  • attributes such as traffic signs can be recorded by means of camera detection.
  • a value of the attribute lane number can be, for example, 3.
  • a map matching algorithm can be used to map the detected position on the digital map.
  • the position P1 is detected by the position determination unit.
  • the stored value of the lane number attribute at position P1 is extracted from the digital map using the map matching algorithm. This can be 3, for example.
  • the current measured value of a camera at position P1 by a sensor of the vehicle can be, for example, 2.
  • the value pair measured value 2 and extracted value 3 sent to the evaluation unit.
  • the assessment unit can use any mathematical algorithm to calculate these two corresponding values to a quality parameter. For example, the difference or a quotient can be formed from the two values. It is crucial that the attributes have location-specific values.
  • the digital map can either be stored in the vehicle or retrieved centrally on demand ("on demand") Using a map matching algorithm, which is used to map the detected position to the digital, the localized relevant attribute from the Furthermore, the evaluation unit can, for example, be an arithmetic unit within the vehicle that independently determines the quality parameter, which can be transmitted to other vehicles by means of short-range communication (car-to-car communication), with the driver assistance systems of the other vehicles transmitting the same This may result in improved driver assistance with more up-to-date information, in other words, these quality parameters and the combination of car-to-car communication may create a self-organizing network, thereby increasing the driver's awareness improved information is provided.
  • car-to-car communication short-range communication
  • the valuation unit is a central valuation unit.
  • the central evaluation unit may be a central server.
  • the vehicle transmits the value pair to the central evaluation unit by means of a transmission unit and this determines the quality parameter on the basis of the value pair.
  • the quality parameter can be transmitted to the respective vehicle and also to other previously uninvolved vehicles.
  • the driver assistance system of the vehicle can use both the digital map data and the quality parameter as the basis of a decision.
  • a retransmission of the quality parameter into a database in which the digital map is stored is possible.
  • a central server is not required.
  • the assessment can also be done inside the vehicle or inside another vehicle. For example, the different vehicles over Vehicle-to-vehicle communication mutually exchange their value pairs and / or their own specific quality parameters.
  • the method further comprises the step of storing the quality parameter as additional information to the digital map.
  • the method further comprises the following step: operating a driver assistance system of a vehicle on the basis of the digital map in combination with the quality parameter.
  • the extraction of a stored value of the attribute of the position of the vehicle from a digital map by a map matching algorithm is a further embodiment of the invention.
  • the method further comprises the steps of generating further value pairs of the attribute of the position by further vehicles and transmitting the further value pairs of the attribute of the position by the further vehicles to the assessment unit.
  • the quality parameter is generated on the basis of the respective values of the further value pairs.
  • a central system can thus be provided by which each individual vehicle transmits its measured values and extracted values as a value pair to a central unit such as a server.
  • the central evaluation unit records all incoming feedback information of the individual vehicles and calculates a central quality parameter. The calculation is based on the respective values of the other value pairs.
  • each mathematical algorithm can be used by the central evaluation unit, which uses the deviation between measured value and the extracted value as the basis for the calculation of the quality parameter. For example, the difference between the two values or the quotient of the two values can be determined. Due to the central determination of the quality parameter and the plurality of transmitted value pairs of an attribute of a position, filtering and rejection of incorrect measurements by the central evaluation unit can take place. Due to a statistical averaging by the evaluation unit, an improved quality parameter for the respective digital maps or the respective driver assistance system of the respective vehicles can be provided.
  • the method further comprises the step of: adapting an already generated and stored quality parameter on the basis of a number of additionally transmitted value pairs or on the basis of a predefined first limit value of a difference of values of an additionally transmitted value pair.
  • the evaluation unit may be adapted to already existing stored quality parameters.
  • the answer to the question as to whether an already stored quality parameter is to be updated can thus be made dependent on the number of value pairs subsequently received by the evaluation unit. For example, it can be specified by the user that in case more enter as five additional value pairs in the evaluation unit, a new quality parameter calculated and this the vehicles or the
  • Driver assistance systems as a new quality parameter of this position and this attribute is provided. Furthermore, it is possible for an already stored quality parameter to be updated if the difference of an additionally incoming value pair exceeds a predefined limit value.
  • the method further comprises the steps of evaluating information of the digital map with the aid of the quality parameter by a driver assistance system, wherein the driver assistance system uses the quality parameter only from a predefined second limit value.
  • the driver assistance system may not use the information of the digital map until, in other words, allow use until at least x times (e.g., 3 times) has been confirmed at the required position of the quality parameters, where x represents the predefined second threshold.
  • the assessment by the driver assistance system can take place such that the driver assistance system only uses information in which quality parameters are available from a central station
  • the tolerance range may be determined by the second predefined limit value
  • the driver assistance system to use only those information of the digital map in which the vehicle itself is subjected at least x times (eg once) has determined a corresponding quality parameter and this quality parameter is within a tolerance range, where x may be the second predefined limit value and this tolerance range of this embodiment may be replaced by a third predefined limit value be defined limit. If a vehicle has already repeatedly generated quality parameters which are close to the required position and these quality parameters are all within a tolerance range, then this can
  • Driver assistance system also decide to use the information of the digital map, even if there are no quality parameters at the current position.
  • this tolerance range can be determined by the predefined second limit value.
  • a tolerance range can become delimited and determined above and below. It is always possible for each limit in the context of the invention that the user of the vehicle himself sets the limit. But also a specification of the limits by a central body such as the central assessment unit is possible.
  • the driver assistance system can be provided with the feedback information of the quality parameter in addition to the digital map data.
  • the driver assistance system is thus able to decide autonomously whether it incorporates and uses the existing map information. This decision may be made dependent on whether the quality parameter exceeds a certain second limit. For example, it may be determined by the user that only those information of attributes of the digital map are used that have a quality parameter that is, for example, greater than 0.8. This can be ensured that the driver assistance system uses only information of the digital map, which has been both at least once checked and secondly, a minimum quality of information is ensured.
  • the method further comprises the steps of: collecting longitudinally dynamic work commands to longitudinal dynamic actuators in a vehicle by a collection unit of a control system and generating new, central work commands for the longitudinal dynamic actuators by a computing unit of the control system.
  • this embodiment of the invention may also exist alone and a creation of a quality parameter is not necessary.
  • a control system for controlling a drive train of a vehicle comprising: a controller, at least one collecting unit and one arithmetic unit, whereby the controller can be supplied with longitudinal dynamic working commands to longitudinally dynamic actuators of the vehicle via the collecting unit; and wherein the arithmetic unit is designed to generate new, central operating commands for the longitudinal dynamic actuators.
  • this embodiment of the invention may also exist alone and a creation of a quality parameter is not necessary.
  • the controller may be designed as a hybrid controller.
  • a central unit represented by the control system By using a central unit represented by the control system, all the longitudinal dynamic interventions of possible vehicle systems are collected in a central location. Furthermore, an arithmetic unit of the control system bundle the incoming longitudinal dynamic working commands of the various vehicle systems and output to new central operating commands for the longitudinally dynamic actuators such as brake system, internal combustion engine, transmission or electric motor. In this case, for example, a holistic consumption optimization can be carried out. It can thus be avoided that the individual vehicle systems such as Advanced Driver Assistant Systems (ADAS) or Global Chassis Control (GCC) independently implement their interventions on the longitudinal dynamic actuators.
  • ADAS Advanced Driver Assistant Systems
  • GCC Global Chassis Control
  • the method further comprises the step of: merging various environmental data of the vehicle through a fusion module into an environmental representation (ie, a representation of the environment of the vehicle), wherein the generation of the new, central work commands is based on the environmental representation in a forward-looking manner ,
  • this is a method for providing an architecture for
  • a fusion module fuses the collection of all input data of different sensors and the information of the digital map and merges them into a comprehensive environmental representation. Based on this environmental representation, systems such as ADAS or GCC issue their longitudinal dynamic work instructions.
  • Work orders of the systems as well as the driver via, for example, the accelerator pedal are collected by the control system and recalculated depending on the driving situation by a computing unit and distributed to the existing actuators such as brake, electric motor, transmission and combustion engine.
  • the control system also provided the information from the fusion module to allow for predictive control and regulation.
  • the fusion module thus channels any environmental data that can be used to generate the environmental representation.
  • the regulator of the control system may be, for example, a hybrid controller which, in a forward-looking manner, takes into account the information of the environmental representation such as the future path dynamics in its calculation of the new central operating commands for the longitudinal dynamic actuators.
  • the interaction between the electric motor and the internal combustion engine can also be optimized.
  • the hybrid controller for example, despite threatening battery shortage of the electric motor shortly before a summit in a hill climb stillploconfig the electric motor to an internal combustion engine when the acceleration should be maximum. Since the hybrid controller through the fusion module has the information that there is the possibility of charging the battery by the upcoming downhill in the near future. In this case, the driver can specify a preference order with which these different goals, such as fuel consumption optimization or maximum acceleration, should be realized.
  • the environmental data are selected from the group consisting of measurement data of the measurement unit of the vehicle, static information of a digital map, dynamic information of a digital map, information from a communication of the vehicle with another vehicle and information from a communication of the vehicle with an infrastructure.
  • control system uses this environmental representation, improved predictive and situation-dependent regulation of the drivetrain of a vehicle can be ensured.
  • the control system takes into account all desired interventions of the vehicle systems and, for example, of the driver. Likewise, feedback information from the brake system to the controller is possible.
  • a driver assistance system for a vehicle is specified, wherein the driver assistance system is based on a digital map working in combination with a quality parameter, wherein the quality parameter is generated by a method according to one of the previous embodiments.
  • a vehicle with a driver assistance system according to the previous exemplary embodiment is specified.
  • a device for generating quality parameters of a digital map in a vehicle having a position determination unit, a measurement unit, a computing unit and a driver assistance system.
  • Detecting a position of the vehicle executed and the measuring unit is performed to detect a measurement of an attribute of the position. Furthermore, the arithmetic unit for extracting a stored value of the attribute of the position of the vehicle from the digital map is executed. The measured value and the extracted value serve to calculate a quality parameter, the driver assistance system being operated on the basis of the digital map in combination with the quality parameter.
  • the quality parameter within the vehicle can be determined independently by, for example, a computing unit and made available to the driver assistance system. But also a transmission of the value pair to a central server, which serves as a valuation unit, is possible. A subsequent return transmission of the quality parameter determined by the server to the vehicle or to another central point for storing the quality parameter is possible.
  • the device makes it possible to generate quality parameters that are independent of the original acquisition of the data. In this case, a redundancy for the driver assistance system is created, since it gets provided in addition to the digital map data and independently recorded and generated quality parameters. This may fulfill a necessary condition for certain security applications.
  • a program element which, when executed on a processor, directs the processor to perform the above steps.
  • a computer-readable medium having stored thereon a program element which, when executed on a processor, instructs the processor to perform the above-identified steps.
  • the computer program element may be part of a software that is stored on a processor of a driver assistance system.
  • the computer program element can be used in a control unit or a computer unit, which regulates and controls the longitudinally dynamic actuators in combination with the controller.
  • this embodiment of the invention comprises a
  • Computer program element which uses the invention from the beginning, as well as a program element, which causes an existing program for use of the invention by an update.
  • the term media conversion generally refers to the transfer, conversion or conversion of a file from one file format to another. This applies to the transfer of data between different media and file systems as well as for the transfer of data from one storage medium to another.
  • the control unit can access the detection unit and let the detection unit communicate the current vehicle position.
  • the detection unit for example, a GPS receiver.
  • media conversion refers to the conversion of data between visual, auditory and textual formats, as well as combination formats thereof.
  • the media-converted data can be transmitted, for example, directly to the receiver selected by the control unit.
  • address information can be made clear to the user of a digital map.
  • FIG. 1 shows a schematic two-dimensional representation of a device for generating quality parameters according to an exemplary embodiment of the invention.
  • FIG. 2 shows a further schematic two-dimensional representation of a device for generating quality parameters according to an exemplary embodiment of the invention.
  • FIG. 3 shows a further schematic two-dimensional representation of a device for generating quality parameters according to an exemplary embodiment of the invention.
  • FIG. 4 shows a flowchart of method steps according to an exemplary embodiment of the invention.
  • FIG. 5 shows an architecture for controlling a drive train of a vehicle according to an exemplary embodiment of the invention.
  • FIG. 6 shows a control system for controlling a drive train of a vehicle according to an exemplary embodiment of the invention.
  • DETAILED DESCRIPTION OF EMBODIMENTS 1 shows a vehicle 101 with a device 100 for generating quality parameters for a driver assistance system 105.
  • the device 100 has, in addition to the driver assistance system, a position determination unit 102, which may be designed, for example, as a GPS receiver.
  • the measuring unit 103 can be embodied by a wide variety of sensors or detectors. For example, a speedometer, a travel sensor, an ESP sensor, an optical detector, a radiation sensor, a direction sensor, a distance sensor or a steering wheel rotation angle sensor, the measuring unit 103 represent. Any communication between the individual elements in the vehicle may be wireless or, if desired, wired.
  • a computing unit 104 is present in the device 100.
  • the arithmetic unit for extracting a stored value from a digital map 107 is executed, wherein the digital map can be stored, for example, in a memory unit 106.
  • the position determination unit is configured to detect a position of the vehicle, and the measurement unit is configured to acquire a measurement value of an attribute of the position of the vehicle.
  • the measured value and the extracted value are used to calculate a quality parameter.
  • an independent determination of the quality parameter on the basis of the measured value and the extracted value by the device 100 is also possible. Furthermore, that will
  • Driver assistance system 106 of the device based on the digital map operated in combination with the generated quality parameter.
  • each mathematical algorithm which uses the measured value and the extracted value to determine the quality parameter can be used to calculate the quality parameter. For example, the difference between the two values or even a quotient of both values can be used to calculate the quality parameter.
  • speed restriction information can be derived from the driven speed in a certain range or at a certain position, but additionally a jam detection can be used here in order to be able to distinguish jams from speed restrictions.
  • lane information such as lane number detected by the camera may serve.
  • information about one-way streets, direction information, Priority information or turn by turn permissions are exemplary attributes of a position.
  • FIG. 2 shows a vehicle 101 having a device 100 according to the invention for generating quality parameters, the vehicle also having a transmitting unit 108. Furthermore, a central evaluation unit 201 is shown, which may be implemented by a server, for example. This valuation unit also has a
  • Transmitter / receiver 202 via which the vehicle 101 and the evaluation unit 201 can communicate.
  • 203 shows the transmission of the value pair measured value and extracted value to the central evaluation unit.
  • 204 shows the return transmission of the calculated quality parameter from the central evaluation unit to the vehicle. It is likewise possible for the central evaluation unit to transmit the quality parameters generated by it to a central memory unit 206. This is shown by the arrow 205.
  • the quality parameter can be stored in the central storage unit 206 and the vehicle accesses the quality parameters stored there by means of a communication 207.
  • FIG. 3 shows a vehicle-to-vehicle communication 301 between two vehicles 101.
  • the vehicles each have a device 100 according to the invention for generating quality parameters for the respective driver assistance systems 105.
  • the devices furthermore each have computing units (evaluation units) 302, which can simultaneously serve as an individual evaluation unit in the vehicle.
  • each evaluation unit 302 can itself calculate quality parameters and then also distribute them by means of a mutual transmission 301 of the respective quality parameters from vehicle to vehicle.
  • this creates a self-organizing network of vehicles that themselves create quality parameters and provide these quality parameters to all other vehicles in their reception area.
  • an improved use of the respective driver assistance systems is given.
  • greater certainty about the correctness of the data may be available, which may save time for the driver.
  • step S1 shows a flowchart of a method for generating quality parameters of a digital map for driver assistance systems in a vehicle.
  • step S2 the position of the vehicle is detected and in step S2, a current measured value of an attribute of the position of the vehicle is detected.
  • step S3 the stored value of the attribute of the position of the vehicle is extracted from the digital map, and in step S4 the measured value and the extracted value are transmitted as a value pair to a rating unit.
  • step S5 a quality parameter of the attribute of the position is generated on the basis of the value pair by the evaluation unit.
  • step S5a can take place, in which further value pairs of the attribute of the position are generated by further vehicles.
  • step S5b the further value pairs of the attribute of the position are transmitted by the further vehicles to the evaluation unit, the generation of the quality parameter taking place on the basis of the respective values of the further value pairs.
  • the quality parameter is stored as additional information to the digital map.
  • step S7 the driver assistance system is operated on the basis of the digital map in combination with the quality parameter.
  • step S8 an already generated and stored quality parameter is adjusted on the basis of a number of additionally transmitted value pairs or on the basis of a predefined first limit value of a difference of values of an additionally transmitted value pair.
  • step S9 is by a
  • step S10 longitudinal dynamic work commands to longitudinal dynamic actuators in a vehicle are collected by a collection unit of a control system.
  • step S1 1 are by a
  • Computing unit of the control system generates new, central work commands for the longitudinally dynamic actuators of the vehicle.
  • step S12 various environmental data of the vehicle environmental representation are merged by a fusion module, wherein the generation of the new central work commands is based on the environmental presentation in a forward-looking manner.
  • quality parameters which are independent of the original acquisition of the data of the digital map. This is a redundancy, recording the data and feedback through quality parameters, realized in the system.
  • 5 shows an architecture 500 for controlling a drive train of a vehicle. In this case, a digital map 501 and a first arithmetic unit 502 are shown. These are located in an information area 503 which, for example, need not be subject to any special security restrictions.
  • a security-relevant area 506 further comprises a telematic control unit 505 to which security-relevant data 504 such as GPS, TCM, RTTI, FCD and C2X data can be made available.
  • security-relevant data 504 such as GPS, TCM, RTTI, FCD and C2X data
  • a region 507 which may be secured with a safety standard such as SIL3
  • the fusion module 508 which creates an environmental representation from various environmental data of the vehicle.
  • the environmental data can be selected from the group consisting of measurement data of the measuring unit of the
  • the measuring unit is shown with 509.
  • the arrow 516 shows how the created environmental representation is made available to the control system 600.
  • the control system 600 in this case comprises a controller 601, a collecting unit 602, a computing unit 603.
  • This computing unit can be designed, for example, as a CPU.
  • the longitudinal dynamic working commands of vehicle systems 51 1 and 512 may be supplied to the collecting unit of the control system.
  • driver 510 interventions involving dynamic actuators may be routed to the collection point.
  • the controller can be supplied to the longitudinal dynamic working commands to longitudinally dynamic actuators of the vehicle via the collection unit and the arithmetic unit is designed to generate new central working commands for the longitudinally dynamic actuators.
  • the longitudinal dynamic actuators are shown at 604.
  • the area 514 describes a control unit for the security-relevant area.
  • a holistic, comprehensive and forward-looking combination of longitudinally dynamic work instructions to new centrally determined longitudinally-dynamic work instructions for the actuators can take place.
  • a consumption-optimal distribution for example, as a condition or goal of the scheme by the controller a consumption-optimal distribution, the acceleration-maximizing distribution, a braking force optimizing distribution or a battery state-dependent distribution are given.
  • FIG. 6 shows a control system 600, which has a controller 601 and a collection unit 602.
  • This collecting unit 602 may be supplied with longitudinal dynamic working commands 605 of different systems or also longitudinally dynamic operating commands 605 of the driver. These commands are collected and fed to a computation unit 603 which forwards new central operating commands to the controller 601, which controls and controls the actuators of the powertrain of the vehicle 604.
  • the actuators may be, for example, transmission, brake, electric motor and internal combustion engine.

Landscapes

  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Traffic Control Systems (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)

Abstract

L'invention concerne l'établissement de paramètres de qualité d'une carte numérique. Selon l'invention, la position du véhicule (101) et une valeur de mesure d'un attribut, associée à cette position, sont déterminées. La valeur de mesure et une valeur extraite de la carte numérique, également associée à cette position, forment une paire de valeurs (203). Un paramètre de qualité (204) peut être calculé à partir de cette paire de valeurs, lequel paramètre fournit une information venant compléter les données de la carte numérique. Un système d'aide à la conduite peut constituer une aide améliorée pour le conducteur d'un véhicule, étant donné que le conducteur peut utiliser, outre les données de la carte numérique, l'information fournie par le paramètre de qualité.
PCT/EP2008/062004 2007-09-13 2008-09-10 Établissement de paramètres de qualité d'une carte numérique WO2009037164A1 (fr)

Priority Applications (2)

Application Number Priority Date Filing Date Title
US12/677,590 US8577596B2 (en) 2007-09-13 2008-09-10 Establishing quality parameters of a digital map
EP08803971A EP2193337A1 (fr) 2007-09-13 2008-09-10 Établissement de paramètres de qualité d'une carte numérique

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
DE102007043824 2007-09-13
DE102007043824.0 2007-09-13
DE102008046683A DE102008046683A1 (de) 2007-09-13 2008-09-10 Erstellung von Qualitätsparametern einer digitalen Karte
DE102008046683.2 2008-09-10

Publications (1)

Publication Number Publication Date
WO2009037164A1 true WO2009037164A1 (fr) 2009-03-26

Family

ID=40365548

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/EP2008/062004 WO2009037164A1 (fr) 2007-09-13 2008-09-10 Établissement de paramètres de qualité d'une carte numérique

Country Status (4)

Country Link
US (1) US8577596B2 (fr)
EP (1) EP2193337A1 (fr)
DE (1) DE102008046683A1 (fr)
WO (1) WO2009037164A1 (fr)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
NL2006638A (nl) * 2010-04-22 2011-10-25 Bosch Gmbh Robert Navigatiesysteem en navigatiewerkwijze voor voertuigen.

Families Citing this family (26)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102010012877A1 (de) 2010-03-26 2011-09-29 Continental Automotive Gmbh Bewertung von Karteninformationen
DE102011116637B4 (de) * 2011-10-20 2015-02-19 Audi Ag Car-2-X-Kommunikationssystem, Teilnehmer in einem solchen System und Verfahren zum Empfangen von Funksignalen in einem solchen System
DE102012212740A1 (de) * 2012-07-19 2014-05-22 Continental Automotive Gmbh System und Verfahren zum Aktualisieren einer digitalen Karte eines Fahrerassistenzsystems
DE102012222855A1 (de) * 2012-12-12 2014-06-12 Bayerische Motoren Werke Aktiengesellschaft Qualitätsindex abhängige Steuerung eines Fahrerassistenzsystems
DE102013008560A1 (de) 2013-05-17 2013-12-19 Daimler Ag Bewertungsverfahren für standortbezogene Dienste
DE102013015145B4 (de) * 2013-09-13 2015-06-11 Iav Gmbh Ingenieurgesellschaft Auto Und Verkehr Verfahren zum Testen und Bewerten der Qualität digitaler Karten
KR102058897B1 (ko) * 2013-11-12 2019-12-24 현대모비스 주식회사 차량 자동 주행 제어 장치 및 방법
KR101648032B1 (ko) * 2014-09-16 2016-08-12 현대자동차주식회사 운전 보조 장치, 및 운전 보조 장치의 제어방법
JP6272204B2 (ja) 2014-10-02 2018-01-31 株式会社Ｓｏｋｅｎ 道路区画線情報取得装置
DE102015220695A1 (de) 2015-10-22 2017-04-27 Robert Bosch Gmbh Verfahren und Vorrichtung zum Bewerten des Inhalts einer Karte
DE102016205543A1 (de) * 2015-11-05 2017-05-11 Continental Teves Ag & Co. Ohg Verfahren und System zum Austauschen von Kartendaten in Abhängigkeit eines Gütemaßes
DE102015223825A1 (de) * 2015-12-01 2017-06-01 Bayerische Motoren Werke Aktiengesellschaft Navigationsdatenbank und Verfahren mit einer besseren Abschätzung der Zuverlässigkeit der Navigationsdaten
US9915947B1 (en) * 2016-02-26 2018-03-13 Waymo Llc System and method for determining pose data for a vehicle
US9846050B2 (en) 2016-03-21 2017-12-19 Ford Global Technologies, Llc Systems, methods, and devices for communicating drive history path attributes
US10228259B2 (en) 2016-03-21 2019-03-12 Ford Global Technologies, Llc. Systems, methods, and devices for communicating drive history path attributes
DE102016214150A1 (de) * 2016-08-01 2018-02-01 Bayerische Motoren Werke Aktiengesellschaft Verfahren zum Steuern eines Zuschaltens eines Verbrennungsmotors in einem Hybridfahrzeug
DE102016218232B4 (de) * 2016-09-22 2024-02-15 Volkswagen Aktiengesellschaft Positionsbestimmungssystem für eine mobile Einheit, Fahrzeug und Verfahren zum Betreiben eines Positionsbestimmungssystems
US10026314B1 (en) * 2017-01-19 2018-07-17 GM Global Technology Operations LLC Multi-vehicle sensor sharing
DE102017211607A1 (de) * 2017-07-07 2019-01-10 Robert Bosch Gmbh Verfahren zur Verifizierung einer digitalen Karte eines höher automatisierten Fahrzeugs (HAF), insbesondere eines hochautomatisierten Fahrzeugs
CN109510851B (zh) * 2017-09-15 2022-01-04 华为技术有限公司 地图数据的构建方法和设备
US10802485B2 (en) 2017-10-09 2020-10-13 Here Global B.V. Apparatus, method and computer program product for facilitating navigation of a vehicle based upon a quality index of the map data
DE102018208207A1 (de) * 2018-05-24 2019-11-28 Bayerische Motoren Werke Aktiengesellschaft Steuerung eines Kraftfahrzeugs
DE102018006503A1 (de) 2018-08-16 2019-01-24 Daimler Ag Digitale Karte
DE102018007885A1 (de) * 2018-10-05 2020-04-09 Giesecke+Devrient Mobile Security Gmbh Sichere Verkehrsunfallvermeidung
DE102018008563A1 (de) 2018-10-30 2019-03-28 Daimler Ag Verfahren zur Optimierung mindestens eines Verkehrsdienstes für ein Navigationssystem eines Fahrzeugs, Navigationssystem zum Durchführen eines solchen Verfahrens, und Fahrzeug mit einem solchen Navigationssystem
FR3120694B1 (fr) * 2021-03-15 2024-03-22 Psa Automobiles Sa Procédé et dispositif de détermination d’une fiabilité d’une cartographie base définition.

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20010056326A1 (en) * 2000-04-11 2001-12-27 Keiichi Kimura Navigation apparatus, method for map matching performed in the navigation apparatus, and computer-readable medium storing a program for executing the method
US20030125871A1 (en) * 1997-10-16 2003-07-03 Kevin Cherveny System and method for updating, enhancing, or refining a geographic database using feedback
EP1674826A1 (fr) * 2004-12-24 2006-06-28 Aisin Aw Co., Ltd. Systèmes, procédés et programmes pour déterminer si un véhicule est sur une route ou hors route

Family Cites Families (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US7195250B2 (en) * 2000-03-27 2007-03-27 Bose Corporation Surface vehicle vertical trajectory planning

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20030125871A1 (en) * 1997-10-16 2003-07-03 Kevin Cherveny System and method for updating, enhancing, or refining a geographic database using feedback
US20010056326A1 (en) * 2000-04-11 2001-12-27 Keiichi Kimura Navigation apparatus, method for map matching performed in the navigation apparatus, and computer-readable medium storing a program for executing the method
EP1674826A1 (fr) * 2004-12-24 2006-06-28 Aisin Aw Co., Ltd. Systèmes, procédés et programmes pour déterminer si un véhicule est sur une route ou hors route

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
DIK DE BRUIN ET AL: "Design and test of a cooperative adaptive cruise control system", 14 June 2004, INTELLIGENT VEHICLES SYMPOSIUM, 2004 IEEE PARMA, ITALY JUNE 14-17, 2004, PISCATAWAY, NJ, USA,IEEE, PAGE(S) 392 - 396, ISBN: 978-0-7803-8310-4, XP010727502 *

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
NL2006638A (nl) * 2010-04-22 2011-10-25 Bosch Gmbh Robert Navigatiesysteem en navigatiewerkwijze voor voertuigen.

Also Published As

Publication number Publication date
EP2193337A1 (fr) 2010-06-09
DE102008046683A1 (de) 2009-03-26
US20100217455A1 (en) 2010-08-26
US8577596B2 (en) 2013-11-05

Similar Documents

Publication Publication Date Title
WO2009037164A1 (fr) Établissement de paramètres de qualité d'une carte numérique
EP3365741B1 (fr) Procédé de conduite de véhicules entièrement automatisée et véhicule automobile correspondant
DE3820589C2 (de) Verfahren und Steuervorrichtung zum selbsttätigen Steuern eines Landfahrzeuges
DE102016218070A1 (de) Bestimmung des optimalen Beginns der Verzögerungsphase im Backend
DE102017103972A1 (de) Autonome Fahrzeugsteuerung unter Berücksichtigung eines Wahrscheinlichkeitsfaktors
DE102017103970A1 (de) Übergang zwischen autonomen Fahrzeugsteuerungsleveln
DE102017103971A1 (de) Autonome Fahrzeugsteuerung mit Vertrauensfaktor
DE102017103969A1 (de) Autonome Fahrzeugsteuerung mit Risikofaktor
DE102018107935A1 (de) Vorrichtung zur Bestimmung der Operational Design Domain (ODD)
DE102016205152A1 (de) Fahrerassistenzsystem zum Unterstützen eines Fahrers beim Führen eines Fahrzeugs
WO2009027122A1 (fr) Unité de mise à jour et procédé de mise à jour d'une carte numérique
DE102014218526A1 (de) Übergang von autonomer Fahrzeugsteuerung zum reagieren auf Fahrersteuerung
DE102017118728B4 (de) Automatisierter Fahrspurhaltungskopilot für autonome Fahrzeuge
DE112011104550T5 (de) System und Verfahren zur fahrzeuggeschwindigkeitsbasierten Betriebskostenoptimierung
DE102017217444B4 (de) Verfahren und System zum Aktualisieren eines Steuerungsmodells für eine automatische Steuerung zumindest einer mobilen Einheit
WO2015140244A1 (fr) Procédé servant à commander un entraînement hybride d'un véhicule, dispositif côté véhicule et ordinateur central
DE102018207869A1 (de) Verfahren und System zur Bereitstellung einer Automatisierungsfunktion für ein Fahrzeug
WO2009027123A1 (fr) Actualisation de cartes numériques et détermination de position
EP3008660A1 (fr) Dispositif et procédé d'assistance au conducteur d'un véhicule
WO2018228906A1 (fr) Procédé d'optimisation de la conduite d'un véhicule automobile sur une voie de circulation
WO2020254063A1 (fr) Procédé pour conduire un véhicule automobile au moins de manière semi-automatique
DE102022103430A1 (de) Verfahren und Steueranordnung zum Steuern der Geschwindigkeit eines Fahrzeuges
EP4111434A1 (fr) Procédé et dispositif pour la prévision du temps résiduel d'une phase de signal
DE102019215099B4 (de) Verfahren zum Bereitstellen einer aktuellen lokalen Umgebungszustandskarte für ein Kraftfahrzeug sowie Kraftfahrzeug zum Durchführen eines derartigen Verfahrens
EP3844936B1 (fr) Demander, analyser et transmettre les données des systèmes d'aide à la conduite d'un véhicule à un utilisateur externe

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 08803971

Country of ref document: EP

Kind code of ref document: A1

WWE Wipo information: entry into national phase

Ref document number: 2008803971

Country of ref document: EP

WWE Wipo information: entry into national phase

Ref document number: 12677590

Country of ref document: US